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A swarm of unmanned aerial vehicles (UAV) is composed of a group of more than two UAVs that have the same airframe flying together. The platform's goal is to release microvehicles from small surveillance UAV for positive target ID and tagging in urban terrain. In this paper, the author discussed the cooperative localisation and map building of an unknown terrain by a swarm of unmanned aerial vehicles using multiple sensor navigation. It has two primary sources of vehicle position, namely vision sensors and laser sensors. This platform can also be used in ad-hoc networking and video networking. (19 pages)